Prateek, G and Girisha, R and Hari, KVS and Hari, Peter (2013) Data Fusion of Dual Foot-Mounted INS to Reduce the Systematic Heading Drift. In: 4th International Conference on Intelligent Systems, Modelling and Simulation (ISMS), JAN 29-31, 2013 , Bangkok, Thailand, pp. 208-213.
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Abstract
In this report, we investigate the problem of applying a range constraint in order to reduce the systematic heading drift in a foot-mounted inertial navigation system (INS) (motion-tracking). We make use of two foot-mounted INS, one on each foot, which are aided with zero-velocity detectors. A novel algorithm is proposed in order to reduce the systematic heading drift. The proposed algorithm is based on the idea that the separation between the two feet at any given instance must always lie within a sphere of radius equal to the maximum possible spatial separation between the two feet. A Kalman filter, getting one measurement update and two observation updates is used in this algorithm.
Item Type: | Conference Proceedings |
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Series.: | Proceedings International Conference on Intelligent Systems Modelling Simulation |
Publisher: | IEEE |
Additional Information: | 4th International Conference on Intelligent Systems, Modelling and Simulation (ISMS), Bangkok, THAILAND, JAN 29-31, 2013 |
Keywords: | Pedestrian Navigation System; Inertial Measurement Unit; Kalman Filter; Indoor Navigation; Systematic Heading Drift |
Department/Centre: | Division of Electrical Sciences > Electrical Communication Engineering |
Date Deposited: | 10 Sep 2013 05:37 |
Last Modified: | 10 Sep 2013 05:40 |
URI: | http://eprints.iisc.ac.in/id/eprint/47087 |
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